Robotic Fish iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion
Abstract-This paper presents a new robotic fish, iSplash-OPTIMIZE, which is 0.6m in body length and deploys a single actuator to drive discrete links across the full-body length. The main focus is on optimizing the kinematics parameters of its linear carangiform swimming motion in order to improve the distance travelled per beat. The experimental results show that the fish can be actuated at high frequencies up to 20 Hz due to deploying a continuous rotary power source. Each discrete link is able to be precisely tuned, providing accurate kinematics with little mechanical loss.
Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
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Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
Robotic Fish iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion
Abstract-This paper presents a new robotic fish, iSplash-OPTIMIZE, which is 0.6m in body length and deploys a single actuator to drive discrete links across the full-body length. The main focus is on optimizing the kinematics parameters of its linear carangiform swimming motion in order to improve the distance travelled per beat. The experimental results show that the fish can be actuated at high frequencies up to 20 Hz due to deploying a continuous rotary power source. Each discrete link is able to be precisely tuned, providing accurate kinematics with little mechanical loss.
Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
Keywords: Robotic fish • Carangiform swimming • Mechanical drive system • Full-Body length.
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Robotic Fish iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion
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Robotic Fish iSplash-OPTIMIZE: Optimized Linear Carangiform Swimming Motion
26Paperback
$9.99
9.99
In Stock
Product Details
| ISBN-13: | 9781537269993 |
|---|---|
| Publisher: | CreateSpace Publishing |
| Publication date: | 08/25/2016 |
| Series: | High Speed Robotics. Mechanical Engneering and Kinematics for Maximum Velocity Robotics. , #2 |
| Pages: | 26 |
| Product dimensions: | 5.06(w) x 7.81(h) x 0.05(d) |
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